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After some searching I found this discussion:

Looks like the librealsense2 got deleted from ROS repositories, but for some reason realsense package still depends on it, which blocks rosdep install. There is a PR with fix waiting for acceptance.

The workaround for now is to use rosdep install with -r flag, and, if you are using docker, end the RUN command which spawns rosdep install with ; exit 0 to continue after rosdep returns 1.

Just remember its not a proper solution and it should be reverted after realsense PR got merged or librealsense2 lib comes back to repository.

Hope it's going to help someone with similar problem